ubuntu18+D435+RealsenseSDK安装

一、安装测试librealsense SDK 2.0

1.注册公钥

 - sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

2.添加repositories（Ubuntu 18.04）

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

3.安装library

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

4.安装developer和debug packages

sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

5.启动测试,需要连接USB3.0接口，要不然会连接失败。

realsense-viewer

 二.安装测试realsense的ROS包

1.需要提前安装好ROS：点这

2.安装

cd ~/catkin_ws/src
git clone https://github.com/intel-ros/realsense.git
cd ..
catkin_make
rospack profile
source devel/setup.sh

catkin_make可能报错缺少ddynamic_reconfigure，请到github下载代码直接放置到你的catkin_ws/src中

3.启动测试

roslaunch realsense2_camera rs_camera.launch
rviz

点击左上角的Fixed Frame 选项中，下拉菜单选择 camera_link

点击左下角的Add，选择bytopic下的选项，如下图，点击ok

 左下角有测试的效果图，连接成功。